Can't run ROS Navigation example with 2022.1

2022-06-07 04:38:39 [32,115ms] [Error] [carb.flatcache.plugin] Error: UsdRelationship /World/Carter_ROS/ActionGraph/ros1_publish_transform_tree_01.inputs:targetPrims has multiple targets, which is not supported

2022-06-07 04:38:39 [32,245ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2022-06-07 04:38:39 [32,352ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:angularVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-06-07 04:38:39 [32,352ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:linearVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-06-07 04:38:39 [32,353ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:jointNames’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-06-07 04:38:39 [32,353ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames

At:
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): setattr
/home/hpf/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(218): initialize

2022-06-07 04:38:39 [32,354ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2022-06-07 04:38:40 [32,461ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-06-07 04:38:40 [32,461ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr

2022-06-07 04:38:46 [39,321ms] [Warning] [gpu.foundation.plugin] Requesting texture to use texture streaming, but the service isn’t available.The texture will be created as a regular resource.

this errors are expected and can be ignored as per known issues in errors section: 8 in docs. Anyways you should able to run ROS navigation tutorial without any issue. Please let me know if you find any other issue.

Hi @vdesale. I do have some issues

the major ones are:

  • RosBridgeUsePhysicsStepSimTime is missing [although this seems to be the default behaviour]
  • cannot manually step the camera. The following code is not working:
{
            "graph_path": "/ROSCamera",
            "evaluator_name": "execution",
        },
        {
            og.Controller.Keys.CREATE_NODES: [
                ("OnImpulseEvent", "omni.graph.action.OnImpulseEvent"),
                ("cameraHelperRgb", "omni.isaac.ros_bridge.ROS1CameraHelper"),
                ("cameraHelperDepth", "omni.isaac.ros_bridge.ROS1CameraHelper"),
                ("cameraHelperInfo", "omni.isaac.ros_bridge.ROS1CameraHelper"),
            ],
            og.Controller.Keys.CONNECT: [
                ("OnImpulseEvent.outputs:execOut", "cameraHelperRgb.inputs:execIn"),
                ("OnImpulseEvent.outputs:execOut", "cameraHelperDepth.inputs:execIn"),
                ("OnImpulseEvent.outputs:execOut", "cameraHelperInfo.inputs:execIn"),
            ],
            og.Controller.Keys.SET_VALUES: [
                ("cameraHelperRgb.inputs:viewport", viewport_name),
                ("cameraHelperDepth.inputs:viewport", viewport_name),
                ("cameraHelperInfo.inputs:viewport", viewport_name),

                ("cameraHelperRgb.inputs:frameId", path[1:]),
                ("cameraHelperRgb.inputs:topicName", path + f"/rgb/image_raw"),
                ("cameraHelperRgb.inputs:type", "rgb"),

                ("cameraHelperDepth.inputs:frameId", path[1:]),
                ("cameraHelperDepth.inputs:topicName", path + f"/depth/image_raw"),
                ("cameraHelperDepth.inputs:type", "depth"),

                ("cameraHelperInfo.inputs:frameId", path[1:]),
                ("cameraHelperInfo.inputs:topicName", path + f"/camera_info"),
                ("cameraHelperInfo.inputs:type", "camera_info"),
            ],
        },

Theoretically, with the above code I can use impulses to publish the ros cameras. However, every time I call render a new frame is being generated for ros.

can you please help me? or perhaps ping one of your colleagues. Unfortunatly, the update changed a lot of stuff without deprecating the old one (like for example “viewport_legacy”).

ayushg@nvidia.com